CA3039949A1 - Procede et systeme de ramassage et de collecte de matiere vegetale - Google Patents
Procede et systeme de ramassage et de collecte de matiere vegetale Download PDFInfo
- Publication number
- CA3039949A1 CA3039949A1 CA3039949A CA3039949A CA3039949A1 CA 3039949 A1 CA3039949 A1 CA 3039949A1 CA 3039949 A CA3039949 A CA 3039949A CA 3039949 A CA3039949 A CA 3039949A CA 3039949 A1 CA3039949 A1 CA 3039949A1
- Authority
- CA
- Canada
- Prior art keywords
- unit
- pick
- plant matter
- piece
- receptacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 210000002257 embryonic structure Anatomy 0.000 claims abstract description 41
- 238000000151 deposition Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 90
- 210000001161 mammalian embryo Anatomy 0.000 claims description 50
- 238000007664 blowing Methods 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 abstract description 12
- 238000012795 verification Methods 0.000 abstract 1
- 241000196324 Embryophyta Species 0.000 description 125
- 239000002609 medium Substances 0.000 description 12
- 238000012360 testing method Methods 0.000 description 5
- 239000007788 liquid Substances 0.000 description 4
- 210000000056 organ Anatomy 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 239000001963 growth medium Substances 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 108700028369 Alleles Proteins 0.000 description 1
- 241000219310 Beta vulgaris subsp. vulgaris Species 0.000 description 1
- 235000011331 Brassica Nutrition 0.000 description 1
- 241000219198 Brassica Species 0.000 description 1
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 description 1
- 244000299906 Cucumis sativus var. sativus Species 0.000 description 1
- 235000021536 Sugar beet Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000031018 biological processes and functions Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 244000038559 crop plants Species 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000013020 embryo development Effects 0.000 description 1
- 230000035784 germination Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003976 plant breeding Methods 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
- A01H4/00—Plant reproduction by tissue culture techniques ; Tissue culture techniques therefor
- A01H4/005—Methods for micropropagation; Vegetative plant propagation using cell or tissue culture techniques
- A01H4/006—Encapsulated embryos for plant reproduction, e.g. artificial seeds
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/48—Automatic or computerized control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/188—Vegetation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45063—Pick and place manipulator
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Biochemistry (AREA)
- Robotics (AREA)
- Biotechnology (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Organic Chemistry (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Mechanical Engineering (AREA)
- Developmental Biology & Embryology (AREA)
- Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- Environmental Sciences (AREA)
- Cell Biology (AREA)
- Genetics & Genomics (AREA)
- General Engineering & Computer Science (AREA)
- Sustainable Development (AREA)
- Microbiology (AREA)
- Biomedical Technology (AREA)
- Computer Hardware Design (AREA)
- Primary Health Care (AREA)
- Human Resources & Organizations (AREA)
- Tourism & Hospitality (AREA)
- Agronomy & Crop Science (AREA)
- Strategic Management (AREA)
- Marine Sciences & Fisheries (AREA)
- Marketing (AREA)
- General Business, Economics & Management (AREA)
- Mining & Mineral Resources (AREA)
- Economics (AREA)
- Animal Husbandry (AREA)
Abstract
La présente invention concerne un procédé et un système de ramassage et de collecte de matière végétale, en particulier d'embryons végétaux. Pour ramasser la matière végétale, une unité de ramassage est utilisée qui est montée sur un bras robotique. Selon l'invention, deux étapes d'imagerie distinctes sont conduites à deux positions différentes de l'unité de ramassage. La première étape d'imagerie est conduite pour identifier un morceau isolé de matière végétale. La deuxième étape d'imagerie est conduite lorsque l'unité de ramassage est à une position de confirmation et permet une vérification du fait qu'un morceau de matière végétale a été ramassé ou non. La position de confirmation est située entre la position de l'unité de ramassage pour ramasser la matière végétale et la position pour déposer de la matière végétale dans des réceptacles adaptés.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2017599 | 2016-10-10 | ||
| NL2017599A NL2017599B1 (en) | 2016-10-10 | 2016-10-10 | Method and system for picking up and collecting plant matter |
| PCT/NL2017/050658 WO2018070866A1 (fr) | 2016-10-10 | 2017-10-06 | Procédé et système de ramassage et de collecte de matière végétale |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA3039949A1 true CA3039949A1 (fr) | 2018-04-19 |
Family
ID=57796908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3039949A Pending CA3039949A1 (fr) | 2016-10-10 | 2017-10-06 | Procede et systeme de ramassage et de collecte de matiere vegetale |
Country Status (10)
| Country | Link |
|---|---|
| US (1) | US11641803B2 (fr) |
| EP (1) | EP3523619B1 (fr) |
| CN (1) | CN110114653B (fr) |
| BR (1) | BR112019007302B1 (fr) |
| CA (1) | CA3039949A1 (fr) |
| DK (1) | DK3523619T3 (fr) |
| ES (1) | ES2978160T3 (fr) |
| FI (1) | FI3523619T3 (fr) |
| NL (1) | NL2017599B1 (fr) |
| WO (1) | WO2018070866A1 (fr) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210120739A1 (en) * | 2018-08-31 | 2021-04-29 | Abundant Robotics, Inc. | Multiple Channels for Receiving Dispensed Fruit |
| JP7204513B2 (ja) * | 2019-02-13 | 2023-01-16 | 株式会社東芝 | 制御装置及びプログラム |
| US11526997B2 (en) * | 2019-12-21 | 2022-12-13 | Verdant Robotics, Inc. | Targeting agricultural objects to apply units of treatment autonomously |
| CN112243698B (zh) * | 2020-10-22 | 2021-08-13 | 安徽农业大学 | 一种基于多传感器融合技术的核桃自动化采摘及收集方法 |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001013702A2 (fr) * | 1999-08-23 | 2001-03-01 | Weyerhaeuser Company | Systeme de delivrance d'embryons pour semences artificielles |
| US6351690B1 (en) * | 2000-01-21 | 2002-02-26 | Virologic, Inc. | Automated method and system for performing antiviral drug susceptibility and resistance testing |
| US7530197B2 (en) * | 2003-06-30 | 2009-05-12 | Weyerhaeuser Co. | Automated system and method for harvesting and multi-stage screening of plant embryos |
| CA2484533C (fr) * | 2003-11-25 | 2008-12-02 | Weyerhaeuser Company | Systemes et methodes d'administration d'embryon pour graines fabriquees |
| CA2486311C (fr) * | 2003-11-26 | 2008-08-12 | Weyerhaeuser Company | Dispositif de ramassage sous vide a degagement mecanique |
| CN102545062A (zh) * | 2007-12-17 | 2012-07-04 | 奥兰若光电公司 | 激光发射器模块及装配的方法 |
| DE102010002317B4 (de) * | 2010-02-24 | 2018-06-14 | Apologistics Gmbh | System und Verfahren zur Vereinzelung und Kommissionierung von Artikeln |
| US9437005B2 (en) * | 2011-07-08 | 2016-09-06 | Canon Kabushiki Kaisha | Information processing apparatus and information processing method |
| US9827054B2 (en) * | 2014-03-14 | 2017-11-28 | Synaptive Medical (Barbados) Inc. | Intelligent positioning system and methods therefore |
| US10119108B2 (en) * | 2013-08-01 | 2018-11-06 | Sartorius Stedim Biotech Gmbh | Manufacturing within a single-use container |
| CN103749045B (zh) * | 2014-02-18 | 2015-06-03 | 福州大学 | 一种光机电式播种机 |
| WO2016036697A1 (fr) * | 2014-09-05 | 2016-03-10 | Progyny, Inc. | Méthodes de détection du mosaïcisme de l'embryon |
| CN105523222A (zh) * | 2014-10-22 | 2016-04-27 | 深圳富泰宏精密工业有限公司 | 整列机构 |
| CN104438095A (zh) * | 2014-12-12 | 2015-03-25 | 杭州郝姆斯食品有限公司 | 一种自动分拣出货设备及分拣出货的方法 |
| CN204448619U (zh) * | 2014-12-23 | 2015-07-08 | 中国农业大学 | 一种种子实时在线分选装置 |
| WO2016148905A1 (fr) * | 2015-03-19 | 2016-09-22 | President And Fellows Of Harvard College | Flim permettant de différencier des ovocytes anciens et jeunes |
| NL2014637B1 (nl) * | 2015-04-14 | 2016-12-16 | Rijk Zwaan Zaadteelt En Zaadhandel Bv | Systeem en werkwijze voor het zaaien van zaden. |
| US10552951B2 (en) * | 2015-06-16 | 2020-02-04 | Growtonix, LLC | Autonomous plant growing systems |
-
2016
- 2016-10-10 NL NL2017599A patent/NL2017599B1/nl active
-
2017
- 2017-10-06 CN CN201780076372.4A patent/CN110114653B/zh active Active
- 2017-10-06 ES ES17791182T patent/ES2978160T3/es active Active
- 2017-10-06 BR BR112019007302-7A patent/BR112019007302B1/pt active IP Right Grant
- 2017-10-06 FI FIEP17791182.3T patent/FI3523619T3/fi active
- 2017-10-06 WO PCT/NL2017/050658 patent/WO2018070866A1/fr unknown
- 2017-10-06 CA CA3039949A patent/CA3039949A1/fr active Pending
- 2017-10-06 DK DK17791182.3T patent/DK3523619T3/da active
- 2017-10-06 EP EP17791182.3A patent/EP3523619B1/fr active Active
-
2019
- 2019-04-08 US US16/377,794 patent/US11641803B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| FI3523619T3 (fi) | 2024-03-28 |
| ES2978160T3 (es) | 2024-09-06 |
| BR112019007302A8 (pt) | 2022-05-17 |
| EP3523619B1 (fr) | 2024-02-28 |
| DK3523619T3 (da) | 2024-03-18 |
| WO2018070866A1 (fr) | 2018-04-19 |
| NL2017599B1 (en) | 2018-04-16 |
| BR112019007302B1 (pt) | 2023-03-07 |
| CN110114653A (zh) | 2019-08-09 |
| EP3523619A1 (fr) | 2019-08-14 |
| WO2018070866A8 (fr) | 2019-05-16 |
| US20190281765A1 (en) | 2019-09-19 |
| BR112019007302A2 (pt) | 2019-07-02 |
| CN110114653B (zh) | 2022-12-16 |
| US11641803B2 (en) | 2023-05-09 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20220705 |
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| EEER | Examination request |
Effective date: 20220705 |
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| EEER | Examination request |
Effective date: 20220705 |
|
| EEER | Examination request |
Effective date: 20220705 |
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| EEER | Examination request |
Effective date: 20220705 |
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| EEER | Examination request |
Effective date: 20220705 |
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| EEER | Examination request |
Effective date: 20220705 |
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| EEER | Examination request |
Effective date: 20220705 |